Changing about IMU
Dependencies: Servo mbed-rtos mbed
Fork of TurtleBot_V1 by
Diff: main.cpp
- Revision:
- 2:d4bd9ff10e8e
- Parent:
- 1:5609c1795245
- Child:
- 3:5bfa7291c639
diff -r 5609c1795245 -r d4bd9ff10e8e main.cpp --- a/main.cpp Tue Feb 20 11:06:35 2018 +0000 +++ b/main.cpp Fri Mar 23 16:25:17 2018 +0000 @@ -220,26 +220,26 @@ mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values - //pc.printf("x-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[0]); - //pc.printf("y-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[1]); - //pc.printf("z-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[2]); - //pc.printf("x-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[3]); - //pc.printf("y-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[4]); - //pc.printf("z-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[5]); + pc.printf("x-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[0]); + pc.printf("y-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[1]); + pc.printf("z-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[2]); + pc.printf("x-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[3]); + pc.printf("y-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[4]); + pc.printf("z-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[5]); mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers - //pc.printf("x gyro bias = %f\n\r", gyroBias[0]); - //pc.printf("y gyro bias = %f\n\r", gyroBias[1]); - //pc.printf("z gyro bias = %f\n\r", gyroBias[2]); - //pc.printf("x accel bias = %f\n\r", accelBias[0]); - //pc.printf("y accel bias = %f\n\r", accelBias[1]); - //pc.printf("z accel bias = %f\n\r", accelBias[2]); + pc.printf("x gyro bias = %f\n\r", gyroBias[0]); + pc.printf("y gyro bias = %f\n\r", gyroBias[1]); + pc.printf("z gyro bias = %f\n\r", gyroBias[2]); + pc.printf("x accel bias = %f\n\r", accelBias[0]); + pc.printf("y accel bias = %f\n\r", accelBias[1]); + pc.printf("z accel bias = %f\n\r", accelBias[2]); wait(2); mpu9250.initMPU9250(); - //pc.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature + pc.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature mpu9250.initAK8963(magCalibration); - //pc.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer - //pc.printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale)); - //pc.printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale)); + pc.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer + pc.printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale)); + pc.printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale)); if(Mscale == 0) pc.printf("Magnetometer resolution = 14 bits\n\r"); if(Mscale == 1) pc.printf("Magnetometer resolution = 16 bits\n\r"); @@ -260,13 +260,14 @@ mpu9250.getAres(); // Get accelerometer sensitivity mpu9250.getGres(); // Get gyro sensitivity mpu9250.getMres(); // Get magnetometer sensitivity - //pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes); - //pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes); - //pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes); + pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes); + pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes); + pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes); magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated magbias[1] = +120.; // User environmental x-axis correction in milliGauss magbias[2] = +125.; // User environmental x-axis correction in milliGauss + while(1) { // If intPin goes high, all data registers have new data @@ -306,13 +307,13 @@ //} //Pass gyro rate as rad/s - //mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); - mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); + mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); + //mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); //Serial print and/or display at 0.5 s rate independent of data rates delt_t = t.read_ms() - count; - if (delt_t > 50) + if (delt_t > 10) { // update LCD once per half-second independent of read rate //pc.printf("ax = %f", 1000*ax); @@ -351,10 +352,11 @@ roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]); pitch *= 180.0f / PI; yaw *= 180.0f / PI; - yaw -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04 + //yaw -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04 + yaw += 0.8f; roll *= 180.0f / PI; - pc.printf("%f %f %f %f \n\r",roll, pitch, yaw, origin); + pc.printf("%f %f %f %f \n\r",roll, pitch, yaw,origin); //pc.printf("average rate = %f\n\r", (float) sumCount/sum); //sprintf(buffer, "YPR: %f %f %f", yaw, pitch, roll); //lcd.printString(buffer, 0, 4);